Navigation Planning on DFC episodes 2018 (test)
100Success RateBlind Dijkstra
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Blind Dijkstra2026.05 | 100 | 96.7 | 55.386 | 55.292 | 0.244 | 1 | 1.99 | 12,927.5 | |
| Geometry-only A*2026.05 | 100 | 3.3 | 0.576 | 10.365 | 0.042 | 1.069 | 24.819 | 164.5 | |
| Risk-weighted A*2026.05 | 100 | 3.3 | 0.333 | 3.753 | 0.014 | 1.106 | 54.48 | 127 | |
| Oracle A*privileged=global map access2026.05 | 100 | 0 | 0 | 3.664 | 0.014 | 1.169 | 58.512 | 37.2 | |
| CVaR costmap A*2026.05 | 100 | 3.3 | 0.287 | 3.318 | 0.012 | 1.143 | 72.78 | 120.8 | |
| Chance-constrained MPC2026.05 | 100 | 3.3 | 0.287 | 4.171 | 0.016 | 1.116 | 58.957 | 114 | |
| route-aware context-enriched fieldmode=ctx-enriched2026.05 | 100 | 10 | 0.658 | 9.493 | 0.039 | 1.045 | 7.629 | 115.8 | |
| Geometry-only policymode=geometry-only2026.05 | 86.7 | 60 | 21.106 | 23.267 | 0.099 | 1.044 | 82.212 | 53,216.6 | |
| PPO-Lagrangian2026.05 | 80 | 23.3 | 0.355 | 3.753 | 0.014 | 1.104 | 13.221 | 200.3 |